Exploration Of Unknown Mechanical Assemblies Through Manipulation

Vijay R. Kumar; Xiaoping Yun; Ruzena Bajcsy

doi:10.1117/12.969908

1 February 1990 Exploration Of Unknown Mechanical Assemblies Through Manipulation

Vijay R. Kumar, Xiaoping Yun, Ruzena Bajcsy

Proceedings Volume 1196, Intelligent Control and Adaptive Systems; (1990) https://doi.org/10.1117/12.969908
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States

Abstract

If robots must function in unstructured environments, they must also possess the ability to acquire information and construct appropriate models of the unknown environment. This paper addresses the automatic generation of kinematic models of unknown objects with moveable parts in the environment. If the relative motion between moving parts must be observed and characterized, vision alone cannot suffice. An approach in which manipulation is used with vision for sensing is better suited to the task of determining kinematic properties. In this paper, algorithms for constructing models of unknown mechanical assemblies and characterizing the relative motion are developed. Results of a simulation are described to demonstrate the role of manipulation in such an endeavor.

Citation Download Citation

Vijay R. Kumar, Xiaoping Yun, and Ruzena Bajcsy "Exploration Of Unknown Mechanical Assemblies Through Manipulation", Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); https://doi.org/10.1117/12.969908

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